CN109903382A - The fusion method and device of point cloud data - Google Patents
The fusion method and device of point cloud data Download PDFInfo
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- CN109903382A CN109903382A CN201910213853.6A CN201910213853A CN109903382A CN 109903382 A CN109903382 A CN 109903382A CN 201910213853 A CN201910213853 A CN 201910213853A CN 109903382 A CN109903382 A CN 109903382A
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Abstract
The present invention provides a kind of fusion method of point cloud data and devices, it is related to mapping and field of engineering technology, pass through the external point cloud data of acquired specified building, and the internal point cloud data conversion of specified building to target-based coordinate system carries out data fusion, generates the panorama point cloud data of specified building；And panorama point cloud data is projected, generate the fusion figure of specified building, by obtaining the inside and outside point cloud data of degree of precision, and the mode that internal outer point cloud data is merged and projected, the clarity and image high-resolution of the inside and outside of specified building can be improved；By converting inside and outside point cloud data to target-based coordinate system, so that inside and outside point cloud data is provided with absolute position, during architecture information modeling, there is better reference significance.
Description
Technical field
The present invention relates to mapping and field of engineering technology, more particularly, to the fusion method and device of a kind of point cloud data.
Background technique
Protect urban historic buildings, to inheriting and develop excellent culture tradition, to research country and national politics, society,
The developing history of economy, thought, culture, art, engineering technology etc., it is significant.But with urbanization urbanization
Process, there are of the remote past for many historical buildings plus long neglected and in disrepair, and the basic data missing outside architecture indoor is more serious,
Therefore, it retains the basic data of the indoor and outdoor of historical building and provides important evidence to repair historical building.
For the basic data for retaining historical building indoor and outdoor, now frequently with the important means of one kind be that obtain indoor and outdoor complete
Whole point cloud data, and based on a Building Information Model for cloud production building.Existing widely used acquisition indoor and outdoor is complete
The technological means of point cloud data are as follows: complete indoor exterior point cloud data is obtained using single scanning instrument, but it is single obtain it is indoor
It is not high that there are shooting efficiency when outer point cloud data, the low deficiency of image-capturing resolution.
Summary of the invention
In view of this, the purpose of the present invention is to provide the fusion method of point cloud data and device, to alleviate earth station
Formula spatial digitizer there are shooting efficiency when obtaining indoor point cloud data not high, the low technical problem of image-capturing resolution.
In a first aspect, this method includes obtaining to specify the embodiment of the invention provides a kind of fusion method of point cloud data
The external point cloud data of building, and, obtain the inside point cloud data of specified building；By external point cloud data and internal point
Cloud data conversion to target-based coordinate system carries out data fusion, generates the panorama point cloud data of specified building；To panorama point cloud number
According to being projected, the fusion figure of specified building is generated.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein obtains
It includes: to obtain the specified multiple positions of building by outdoor scanning device that fetching, which determines the step of external point cloud data of building,
Exterior three dimensional scan data；Wherein, exterior three dimensional scan data includes at least the external structure parameter of specified building, outer position
Set parameter and exterior color parameter；3 d scan data is spliced, the external point cloud number under the first space coordinates is generated
According to.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, wherein the step of obtaining the inside point cloud data of specified building includes: to be set by indoor moving scanning
The standby interior three-dimensional scan data for obtaining the specified multiple positions of building；Wherein, interior three-dimensional scan data；Including at least specified
Internal structure parameter, interior location parameter and the internal color parameter of building；Internal 3 d scan data is spliced, it is raw
At the inside point cloud data under second space coordinate system.
The possible embodiment of second with reference to first aspect, the embodiment of the invention provides the third of first aspect
Possible embodiment, wherein external point cloud data and internal point cloud data conversion to target-based coordinate system are subjected to data fusion,
The step of generating the panorama point cloud data of specified building includes: according to pre-set coordinate system corresponding relationship by the first space
The internal point cloud data conversion under external point cloud data and second space coordinate system under coordinate system is at more under target-based coordinate system
A target point cloud data；It is the panorama point cloud data of specified building by multiple target point cloud data markers.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, wherein the step of projecting to panorama point cloud data, generating the fusion figure of specified building include:
Panorama point cloud data is input to projection device to project, obtains projection file；According to projection file, specified building is generated
Fusion figure.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides the 5th kind of first aspect
Possible embodiment, wherein this method further includes the external scan property parameters for obtaining specified building, wherein is swept outside
Retouch spatial distribution, form and scanning accuracy and resolution ratio that property parameters include at least specified building；According to external scan
Property parameters generate the external scan point of specified building, in order to which outdoor scanning device obtains three-dimensional in external scanning element position
Scan data.
The possible embodiment of second with reference to first aspect, the embodiment of the invention provides the 6th kind of first aspect
Possible embodiment, wherein this method further include: obtain the inner scanning property parameters of specified building, wherein sweep inside
Retouch internal structure parameter, space layout and characteristic objects that property parameters include at least specified building；According to inner scanning category
Property parametric programming acquisition route and it is each acquisition route target point, in order to which indoor moving scanning device is according to target point
Internal 3 d scan data is spliced, the inside point cloud data under second space coordinate system is generated.
Second aspect, the embodiment of the present invention also provide a kind of fusing device of point cloud data, which includes: acquisition mould
Block, for obtaining the external point cloud data of specified building, and, obtain the inside point cloud data of specified building；Merge mould
Block generates specified building for external point cloud data and internal point cloud data conversion to target-based coordinate system to be carried out data fusion
The panorama point cloud data of object；Projection module generates the fusion figure of specified building for projecting to panorama point cloud data.
In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, wherein melts
Mold block further include: converting unit, for will be outer under the first space coordinates according to pre-set coordinate system corresponding relationship
Internal point cloud data conversion under portion's point cloud data and second space coordinate system is at multiple target point cloud numbers under target-based coordinate system
According to；Marking unit, for being the panorama point cloud data of specified building by multiple target point cloud data markers.
In conjunction with the first possible embodiment of second aspect, the embodiment of the invention provides second of second aspect
Possible embodiment, wherein projection module includes: acquisition projecting cell, is set for panorama point cloud data to be input to projection
It is standby to be projected, obtain projection file；Generation unit, for generating the fusion figure of specified building according to projection file.
The embodiment of the present invention bring it is following the utility model has the advantages that
The fusion method and device of a kind of point cloud data provided in an embodiment of the present invention pass through acquired specified building
The internal point cloud data conversion of external point cloud data and specified building to target-based coordinate system carries out data fusion, and generation refers to
Determine the panorama point cloud data of building；And panorama point cloud data is projected, the fusion figure of specified building is generated, by obtaining
The inside and outside point cloud data of degree of precision, and the mode that internal outer point cloud data is merged and projected are taken, can be improved specified
The clarity and image high-resolution of the inside and outside of building；By converting inside and outside point cloud data to target-based coordinate system, so that
Inside and outside point cloud data is provided with absolute position, during architecture information modeling, has better reference significance.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification and attached drawing
Specifically noted structure is achieved and obtained.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those skilled in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the fusion method of point cloud data provided in an embodiment of the present invention；
Fig. 2 is the flow chart of the fusion method of another point cloud data provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the fusing device of point cloud data provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the fusing device of another point cloud data provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those skilled in the art institute without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Mostly use single scanning instrument to obtain complete indoor exterior point cloud data at present, but single scanning instrument obtain it is indoor and
It is not high that there are shooting efficiency when outdoor point cloud data, the low deficiency of image-capturing resolution, is based on this, and provided in an embodiment of the present invention one
The fusion method and device of kind point cloud data can carry out the inside and outside scanning of specified building using different scanning devices,
Finally obtain comprehensive, high-precision specified building inside and outside fusion figure.
For the fusion convenient for understanding the present embodiment, first to a kind of point cloud data disclosed in the embodiment of the present invention
Method describes in detail.
Embodiment one:
With reference to a kind of flow chart of the fusion method of point cloud data shown in FIG. 1, method includes the following steps:
Step S102 obtains the external point cloud data of specified building, and, obtain the internal point cloud number of specified building
According to；
When specific implementation, in order to improve the external point cloud data of specified building and the quality of internal point cloud data, usually
The external point cloud data that specified building is obtained using ground standing posture spatial digitizer, generallys use mobile laser three-dimensional scanning
Instrument obtains the inside point cloud data of specified building, specific to obtain point cloud data and internal point cloud data outside specified building
Technological means, and the specific equipment used can be set according to the actual situation, and the embodiment of the present invention is to this without limit
System.
External point cloud data and internal point cloud data conversion to target-based coordinate system are carried out data fusion by step S104, raw
At the panorama point cloud data of specified building；
Specifically, target-based coordinate system generally includes the more specific location informations such as the longitude and latitude of specified building；By that will give directions
The external point cloud data and internal point cloud data of building are transformed under target-based coordinate system, complete external point cloud data and inside
The Absolutely orientation of point cloud data works；External point cloud data and internal point cloud number are carried out using the technological means of data fusion
According to fusion, the technological means of specific data fusion can be set according to the actual situation, the embodiment of the present invention to this not into
Row limitation.
Step S106 projects panorama point cloud data, generates the fusion figure of specified building.
A kind of fusion method of point cloud data provided in an embodiment of the present invention passes through the external point of acquired specified building
Cloud data and the internal point cloud data conversion of specified building to target-based coordinate system carry out data fusion, generate specified building
The panorama point cloud data of object；And panorama point cloud data is projected, the fusion figure of specified building is generated, it is higher by obtaining
The inside and outside point cloud data of precision, and the mode that internal outer point cloud data is merged and projected, can be improved specified building
Inside and outside clarity and image high-resolution；By converting inside and outside point cloud data to target-based coordinate system, so that interior exterior point
Cloud data are provided with absolute position, during architecture information modeling, have better reference significance.
In the actual process, in order to ensure point cloud data outside acquired specified building and internal point cloud data can
Really and accurately the actual conditions outwardly and inwardly of building are given directions in reflection, and Fig. 2 shows the fusions of another point cloud data
The flow chart of method, it is described that the specific implementation steps are as follows:
Step S202 obtains the exterior three dimensional scan data of the specified multiple positions of building by outdoor scanning device；Tool
When body is realized, exterior three dimensional scan data includes at least external structure parameter, external position parameter and the outside of specified building
Color parameter.
Outdoor scanning device is usually the scanner or video camera with scanning colour point cloud or camera function, such as method is such as
Frame standing posture laser scanner generallys use frame and stands firm and adopt to coordinate when for example frame standing posture laser scanner is scanned using method
Set method or free frame station coordinates acquisition method carry out the acquisition of external point cloud data.Further, frame is stood firm to coordinate acquisition side
Method can be used the methods of setting azimuth, resection and be oriented, then directly carry out i.e. using known point as known date
Scanning survey, the coordinate of obtained scan data are the coordinate under target-based coordinate system.Free frame station coordinates is made with target
For Registration and connection mark, pacifies sufficient amount of target between two survey stations, directly carried out using method such as frame standing posture laser scanner
Scanning is corrected, it can obtain the coordinate under target-based coordinate system by the Registration and connection and coordinate system in later period.
In actual acquisition, type, model and the corresponding acquisition method of outdoor scanning device can be according to practical feelings
Condition is set, and it is not limited by the embodiments of the present invention.
Step S204,3 d scan data is spliced, and generates the external point cloud data under the first space coordinates.Tool
When body is realized, the exterior three dimensional scan data of the specified multiple positions of building is extracted, the exterior three dimensional comprising same scene is chosen
Scan data such as is scanned the splicing of point, vacuates at the processing, wherein three common scannings are included at least in same scene
Point is spliced by the exterior three dimensional scan data to multiple positions, the final complete outside for obtaining specified building
Point cloud data, further, the outside point cloud data are usually the point cloud data of video stream format, such as pts format.The external point
Cloud data are only under the relative coordinate system of shooting, and there is no really the information such as specific geographical location carry out with specified building
Absoluteness positioning.Specific connecting method and point cloud format type can be set according to the actual situation, the embodiment of the present invention pair
This is not limited.
Step S206 scans number by the interior three-dimensional that indoor moving scanning device obtains the specified multiple positions of building
According to；When specific implementation, interior three-dimensional scan data include at least the internal structure parameter of specified building, interior location parameter and
Internal color parameter.
Indoor moving scanning device is usually the scanner or video camera with scanning colour point cloud or camera function, such as
Internal point cloud data is acquired according to the acquisition route planned using mobile spatial digitizer, in collection process,
It should be noted that having kept travel speed and posture.
The type and model of specific indoor moving scanning device can be set according to the actual situation, the embodiment of the present invention
This is not limited.
Step S208 splices internal 3 d scan data, generates the internal point cloud number under second space coordinate system
When according to, specific implementation, extract the interior three-dimensional scan data of the specified multiple positions of building, choose include same scene inside
3 d scan data is scanned the splicing of point, the final complete internal point cloud data for obtaining specified building, into
One step, the inside point cloud data are usually the point cloud data of binary format, such as las format.The inside point cloud data is
Under the relative coordinate system of shooting, there is no really the information such as specific geographical location progress absoluteness is fixed with specified building
Position.Specific connecting method and point cloud format type can be set according to the actual situation, the embodiment of the present invention to this without
Limitation.
Step S210, according to pre-set coordinate system corresponding relationship by the external point cloud data under the first space coordinates
With the internal point cloud data conversion under second space coordinate system at multiple target point cloud datas under target-based coordinate system.Specific implementation
When, target-based coordinate system generally includes the information such as geographical location and the longitude and latitude of specified building, is the absolute position of specified building
It sets, it, will using the coordinate of three or more the scanning points or target point measured in advance and the corresponding relationship of target-based coordinate system
External point cloud coordinate and internal point cloud coordinate are converted to target-based coordinate system, and target point cloud data is generated.Further, target
Point cloud data includes absolute coordinate data and color parameter of each target point cloud data under target-based coordinate system.
Multiple target point cloud data markers are the panorama point cloud data of specified building by step S212.When specific implementation,
Suitable data processing software is respectively adopted by the number in the external point cloud data and internal point cloud data in target point cloud data
Database format is converted to according to format, and is labeled as panorama point cloud data, usual database format is rcs format, specific data
Library format and data processing software type can be set according to the actual situation, and it is not limited by the embodiments of the present invention.
Panorama point cloud data is input to projection device and projected by step S214, obtains projection file.Specific implementation
When, the panorama point cloud data of specified building is loaded into projection device, for example, by using suitable projection device by rcs format
Panorama point cloud data projected, be created that corresponding cloud projection file, the projection device generallyd use are Autodesk
Recap, the projection file generated after projection are rcp format.The type of specific projection device can be set according to the actual situation
Fixed, it is not limited by the embodiments of the present invention.
Step S216 generates the fusion figure of specified building according to projection file.Specifically, panorama point cloud data is raw
At projection file in point cloud carry out fusion treatment, ultimately generate the fusion figure of specified building.
Further, in order to ensure exterior three dimensional scan data acquired in outdoor scanning device can comprehensive reflection refer to
Determine building external circumstances, guarantee that the high-precision of external datapoint cloud, this method are further comprising the steps of:
Obtain the external scan property parameters of specified building；
When specific implementation, external scan property parameters include at least spatial distribution, the form of specified building, and scanning
Precision and resolution ratio；
The external scan point of specified building is generated, according to external scan property parameters in order to which outdoor scanning device exists
External scan point obtains exterior three dimensional scan data；
When specific implementation, according to external scan property parameters, for example, the essence that space distribution situation, form and scanning need
Degree and resolution ratio carry out installation position to the website of outdoor scanning device.The method for generalling use tradition mapping is built in conjunction with specified
The integral layout for building object lays suitable conducting wire, and wire type generally includes connecting traverse, back traverse etc., and conducting wire is used for finger
Determine the positioning operation that building carries out spatial position, the specific method for laying conducting wire, and specific wire type can be according to reality
Border is set, and it is not limited by the embodiments of the present invention.
It ensures that and specified outdoor buildings scene is completely scanned, it usually needs according to specified building
External scan property parameters, generate suitable external scan point, the specific principle for generating scanning point generallys use following
Principle that is, in conductor area, lays life in open four angular regions of specified building for specifying building region
At scanning point, scanning point generally includes target point, control point, special point etc., big for area, complex shape
Building increases scanning point in the corner of specified building, to ensure that the point cloud between measuring point exists according to actual needs
Overlapping, and put the whole specified building of cloud covering.The specific principle for generating scanning point can be set according to the actual situation,
It is not limited by the embodiments of the present invention.
Further, in order to ensure interior three-dimensional scan data acquired in indoor scanning device can comprehensive reflection refer to
Determine interior of building situation, guarantee that the high-precision of internal data point cloud, this method are further comprising the steps of:
Obtain the inner scanning property parameters of specified building, when specific implementation, inner scanning property parameters are included at least
Internal structure parameter, space layout and the characteristic objects of specified building.
Plan the target point of acquisition route and each acquisition route, according to inner scanning property parameters in order to interior
Motion scan equipment splices internal 3 d scan data according to target point, generates the internal point under second space coordinate system
Cloud data.
When specific implementation, according to inner scanning attribute, interior layout, trend, inflection point and the sky of specified building are judged
Between size, meanwhile, to the target point of internal acquisition route and different scenes stitching portion according to " weigh do not leak less " principle into
Row is laid.Further, in specific lay, open traverse appropriate is laid in specified interior of building, meanwhile, in every two scene
Between lay 1 public target points, and target point will be distributed on different horizontal planes.It is specific lay principle with
And method may be set according to actual conditions, it is not limited by the embodiments of the present invention.
To sum up, a kind of fusion method of point cloud data provided in an embodiment of the present invention has the advantages that
(1) different scanning devices and different acquisition methods are used, specified building is shot outwardly and inwardly, can obtain
Obtain high-precision, the comprehensive colour point clouds data outwardly and inwardly of specified building high-definition；
(2) point cloud data different for file format obtains the identical point of format by the way of file format conversion
Cloud data；
(3) by carrying out coordinate unification to external and internal point cloud data, be conducive to outwardly and inwardly point cloud data generation
Complete and high-precision panorama point cloud data；
(4) by way of setting absolute coordinate, it is determined that the fusion figure for the specified building being finally fused into exists exhausted
To position, provided strong support for building positioning.
Embodiment two:
Corresponding to method provided by the above embodiment, the embodiment of the invention also provides a kind of fusion of point cloud data dresses
It sets, with reference to a kind of structural schematic diagram of the fusing device of point cloud data shown in Fig. 3.
The device comprises the following modules:
Module 300 is obtained, for obtaining the external point cloud data of specified building, and, it obtains and specifies the interior of building
Portion's point cloud data；
Fusion Module 302, for external point cloud data and internal point cloud data conversion to target-based coordinate system to be carried out data
Fusion generates the panorama point cloud data of specified building；
Projection module 304 generates the fusion figure of specified building for projecting to panorama point cloud data.
Above-mentioned apparatus passes through the external point cloud data of acquired specified building and the internal point cloud of specified building
Data conversion to target-based coordinate system carries out data fusion, generates the panorama point cloud data of specified building；And to panorama point cloud number
According to being projected, the fusion figure of specified building is generated, by obtaining the inside and outside point cloud data of degree of precision, and by internal exterior point
The clarity and image high-resolution of the inside and outside of specified building can be improved in the mode that cloud data are merged and projected；
By converting inside and outside point cloud data to target-based coordinate system, so that inside and outside point cloud data is provided with absolute position, in architecture information
During modeling, there is better reference significance.
When specific implementation, in order to ensure point cloud data outside acquired specified building and internal point cloud data can be true
The actual conditions outwardly and inwardly of building are given directions in real accurately reflection, and Fig. 4 shows the fusion dress of another point cloud data
The structural schematic diagram set, the Fusion Module 302 in the device further include:
Converting unit 402, for according to will be outer under the first space coordinates in pre-set coordinate system corresponding relationship
Internal point cloud data conversion under portion's point cloud data and second space coordinate system is at multiple target point cloud numbers under target-based coordinate system
According to；
Marking unit 404, for being the panorama point cloud data of specified building by multiple target point cloud data markers.
Further, as shown in figure 4, the projection module 304 of the device further include:
Projecting cell 406 is obtained, is projected for panorama point cloud data to be input to projection device, projection text is obtained
Part；
Generation unit 408, for generating the fusion figure of specified building according to projection file.
The fusing device of the point cloud data provided in above-described embodiment two, by acquiring specified building outwardly and inwardly
Point cloud data, and two kinds of point cloud datas are merged, the panorama for obtaining final specified building merges figure, obtained fusion
Figure has fine definition, and can reflect the inside and outside of specified building in all directions.
The fusing device of point cloud data provided in an embodiment of the present invention, with merging for point cloud data provided by the above embodiment
Method technical characteristic having the same reaches identical technical effect so also can solve identical technical problem.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
Finally, it should be noted that
Flow chart and structural block diagram in attached drawing show the method, apparatus and calculating of multiple embodiments according to the present invention
The architecture, function and operation in the cards of machine program product.In this regard, each box in flowchart or block diagram can
To represent a part of a module, section or code, a part of the module, section or code includes one or more
A executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, in box
The function of being marked can also occur in a different order than that indicated in the drawings.For example, two continuous boxes actually may be used
To be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that
, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with executing
Defined function or the dedicated hardware based system of movement realize, or can use specialized hardware and computer instruction
Combination is to realize.
In several embodiments provided herein, it should be understood that disclosed method and apparatus, it can be by other
Mode realize.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one
Kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some communication interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
Above embodiments, only a specific embodiment of the invention, to illustrate technical solution of the present invention, rather than to it
Limitation, scope of protection of the present invention is not limited thereto, although the present invention is described in detail referring to the foregoing embodiments,
It should be understood by those skilled in the art that: anyone skilled in the art in the technical scope disclosed by the present invention,
It still can modify to technical solution documented by previous embodiment or can readily occur in variation, or to part
Technical characteristic is equivalently replaced；And these modifications, variation or replacement, it does not separate the essence of the corresponding technical solution this hair
The spirit and scope of bright embodiment technical solution, should be covered by the protection scope of the present invention.Therefore, protection of the invention
Range should be subject to the protection scope in claims.
Claims (10)
1. a kind of fusion method of point cloud data, which is characterized in that the described method includes:
The external point cloud data of specified building is obtained, and, obtain the inside point cloud data of the specified building；
The external point cloud data and the internal point cloud data conversion to target-based coordinate system are subjected to data fusion, described in generation
The panorama point cloud data of specified building；
The panorama point cloud data is projected, the fusion figure of the specified building is generated.
2. the method according to claim 1, wherein the step of the external point cloud data for obtaining specified building
Suddenly include:
The exterior three dimensional scan data of the multiple positions of specified building is obtained by outdoor scanning device；Wherein, described outer
Portion's 3 d scan data includes at least external structure parameter, external position parameter and the exterior color ginseng of the specified building
Number；
The 3 d scan data is spliced, the external point cloud data under the first space coordinates is generated.
3. according to the method described in claim 2, it is characterized in that, the inside point cloud data for obtaining the specified building
The step of include:
The interior three-dimensional scan data of the multiple positions of specified building is obtained by indoor moving scanning device；Wherein, institute
State interior three-dimensional scan data；Including at least the internal structure parameter of the specified building, interior location parameter and internal face
Color parameter；
The interior three-dimensional scan data is spliced, the inside point cloud data under second space coordinate system is generated.
4. according to the method described in claim 3, it is characterized in that, described by the external point cloud data and the internal point cloud
The step of data conversion carries out data fusion, generate the panorama point cloud data of the specified building to target-based coordinate system include:
According to pre-set coordinate system corresponding relationship by the external point cloud data and described under first space coordinates
Internal point cloud data conversion under two space coordinates is at multiple target point cloud datas under target-based coordinate system；
It is the panorama point cloud data of the specified building by multiple target point cloud data markers.
5. according to the method described in claim 4, generating it is characterized in that, described project the panorama point cloud data
The step of fusion figure of the specified building includes:
The panorama point cloud data is input to projection device to project, obtains projection file；
According to the projection file, the fusion figure of the specified building is generated.
6. according to the method described in claim 2, it is characterized in that, the method also includes:
Obtain the external scan property parameters of the specified building, wherein the external scan property parameters include at least institute
State spatial distribution, form and the scanning accuracy and resolution ratio of specified building；
The external scan point of the specified building is generated, according to the external scan property parameters in order to which the outdoor is swept
It retouches equipment and obtains the exterior three dimensional scan data in the external scan point.
7. according to the method described in claim 3, it is characterized in that, the method also includes:
Obtain the inner scanning property parameters of the specified building, wherein the inner scanning property parameters include at least institute
State internal structure parameter, space layout and the characteristic objects of specified building；
The target point of acquisition route and each acquisition route is planned according to the inner scanning property parameters, in order to
The indoor moving scanning device splices the interior three-dimensional scan data according to the target point, generates second space
Inside point cloud data under coordinate system.
8. a kind of fusing device of point cloud data, which is characterized in that described device includes:
Module is obtained, for obtaining the external point cloud data of specified building, and, the internal point of the acquisition specified building
Cloud data；
Fusion Module, for the external point cloud data and the internal point cloud data conversion to target-based coordinate system to be carried out data
Fusion generates the panorama point cloud data of the specified building；
Projection module generates the fusion figure of the specified building for projecting to the panorama point cloud data.
9. device according to claim 8, which is characterized in that the Fusion Module further include:
Converting unit, for according to pre-set coordinate system corresponding relationship by the external point cloud data under the first space coordinates
With the internal point cloud data conversion under second space coordinate system at multiple target point cloud datas under target-based coordinate system；
Marking unit, for being the panorama point cloud data of the specified building by multiple target point cloud data markers.
10. device according to claim 9, which is characterized in that the projection module includes:
Projecting cell is obtained, is projected for the panorama point cloud data to be input to projection device, projection file is obtained；
Generation unit, for generating the fusion figure of the specified building according to the projection file.
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